WO2020004992A1

WO2020004992A1 - Freight classification apparatus for which alignment is unnecessary, and method therefor

Info

Publication number: WO2020004992A1
Application number: PCT/KR2019/007847
Authority: WO
Inventors: 김호연
Original assignee: 주식회사 가치소프트
Priority date: 2018-06-29
Filing date: 2019-06-28
Publication date: 2020-01-02
Also published as: KR20200002383A

Abstract

Disclosed are a freight classification apparatus for which alignment is unnecessary, and a method therefor. A freight classification apparatus, according to one embodiment, comprises: a freight transport part which does not align freight in advance but transports the freight in at least one row; a location tracking part which detects and tracks two-dimensional locations of the respective freight which are being transported by the freight transport part; and a freight classification part for controlling, on the basis of a result of location tracking by the location tracking part, and according to sorting information of the freight, the locations and directions of the respective freight so as to classify the freight by destination sorters during transport.

Description

Freight sorting device that does not need line alignment and method

The present invention relates to a logistics processing technology, and more particularly to a cargo transport technology through a transport conveyor.

As the parcel delivery market grows and the base-type logistics centers are built, demand for high-speed cargo handling is increasing. Cargo handling in distribution centers has evolved from partial automation to full automation. Accordingly, there is an increasing demand for a cargo sorting device that sorts cargo automatically.

The general cargo sorting device has the following problems in terms of performance and space efficiency. In terms of performance, existing devices can only sort cargo in line so that the cargo can be classified by the corresponding separator, so the throughput is limited even if the input volume and speed of cargo are improved. In terms of space efficiency, existing units have multiple cargo feeders for increased input and at the same time they consist of rather long alignments to line up cargo. Thus, the cargo supply portion and the alignment portion take up a lot of space.

According to an embodiment, a cargo sorting apparatus and a method for classifying cargoes into more than one line to improve performance and space efficiency are proposed.

Cargo sorting apparatus according to an embodiment, the cargo transfer unit for transporting the goods in one or more rows without arranging the cargo in advance, a position tracking unit for detecting and tracking the two-dimensional position of each cargo being transported through the cargo transfer unit; Based on the location tracking result of the location tracking unit to control the location and direction of each cargo in accordance with the classification information includes a cargo classification unit for classifying the cargo to the destination separator during transport.

The position tracking unit may include a division information acquisition unit for acquiring cargo classification information from identification information of the cargo being transported, a position information acquisition unit for acquiring two-dimensional position information of the cargo using at least one vision camera, and It may include an information matching unit for connecting the classification information and the two-dimensional location information of the cargo.

The classification information acquisition unit may include at least one image scanner scanning an image of a single or multiple cargoes supplied to a cargo transfer unit, and a cargo recognition unit configured to acquire an image through each image scanner and recognize identification information of each single cargo from the acquired image. And a division information processing unit for classifying the multiple cargos by querying the classification information of each cargo with the identification information of each recognized single cargo.

The cargo recognition unit uses at least one of barcode reading, identification code reading, video coding and address reading to recognize identification information of each single cargo, and intelligent information generated through machine learning based on artificial neural networks or artificial neural networks. The identification information can be recognized using.

The location information acquisition unit may include an image acquisition unit that acquires an image of the cargo being transported using at least one vision camera, an image processing unit that image-processes the image acquired by the image acquisition unit, and analyze the image-processed data to collect the cargoes. Image analysis unit that tracks the location of the cargo by recognizing the movement time and appearance of each detected cargo, and image analysis unit for analyzing the intelligence information generated by machine learning based on artificial neural network or artificial neural network It may include an artificial intelligence link provided to.

The position tracking unit may further include a size measuring unit measuring the size and direction of each cargo before acquiring the division information of the division information obtaining unit, and the division information obtaining unit focuses using the information measured by the size measuring unit and then increases the size. It may include an auto focus image scanner that scans images of different shipments at high speed.

The cargo classification unit determines the destination delimiter for discharging each cargo according to the classification information of each cargo, and arranges the cargoes so that each cargo can be discharged to the determined destination delimiter while tracking the locations of the cargoes through a vision camera. It may include an alignment unit and a cargo discharge unit for selectively discharging cargo to a destination separator while tracking the location of the cargo through a vision camera.

The cargo alignment unit determines the emission policy, including the direction and sequence of discharge of the cargo, according to the destination delimiter assigned to each cargo, and the emission policy deciding part allowing overlapping alignment according to the destination delimiter, and the vision according to the determined emission policy. Works with cameras to control the alignment of cargo, tracks cargo location with vision cameras, and controls cargo location, including the order and spacing of cargo, to move to destination demarcation without obstructing or receiving surrounding cargo. It may include a real-time location control.

The cargo discharge unit discharges cargo individually by controlling the sorting cells carrying each cargo, or discharges cargo into groups by controlling a plurality of sorting cells in groups, and the space of the surrounding cargo using the empty space of the discharged cargo For shipments that are difficult to discharge to the designated destination delimiter, the discharge control unit may be rejected or finally rejected for re-entry in advance, and the location of the cargo may be tracked in conjunction with the vision camera, and the cargo may be It may include a discharge selector for controlling the discharge.

The discharge control unit discharges each cargo so that each cargo can be discharged to its destination separator even if the cargoes are not aligned in line and overlap each other in the direction of cargo progress and vertically. The directions can be controlled individually and processed simultaneously.

The cargo classification unit may further include a direction switching unit for dividing the cargo by switching the transfer direction of each classification cell so that each cargo proceeds according to the cargo discharge direction determined according to the cargo classification information. Each sorting cell may be a rotatable belt sorter comprising a small belt for conveying the cargo and a rotating body for rotating the position of the small belt by the rotation on the plane to change the traveling direction of the cargo passing through the small belt.

According to another embodiment of the present invention, a cargo classification method using a cargo sorting apparatus includes: a cargo sorting apparatus transferring the cargoes into one or more rows without first arranging the cargoes in advance, and detecting and tracking the two-dimensional position of each cargo being transported. And classifying the cargo into destination separators during transportation by controlling the location and direction of each cargo based on the classification information of the cargo based on the location tracking result.

The detecting and tracking of the two-dimensional position may include obtaining classification information from identification information of the cargo being transported, acquiring two-dimensional position information of the cargo by using at least one vision camera, and It may include the step of connecting the classification information and the two-dimensional position of the cargo.

The classification into destination delimiters may include determining a destination delimiter for discharging each cargo according to the acquired delimitation information, and determining an emission policy including a discharge direction and sequence of cargo according to the determined destination delimiter, and vision camera. Controlling and sorting the flow and position of the cargo according to the discharge policy while tracking the cargo location through, and may include the step of selectively discharge the cargo to the destination delimiter.

The aligning steps include changing the cargo position according to each cargo's destination separator, and tracking the cargo's location through vision cameras, and positioning the cargo to the destination separator without disturbing or receiving surrounding cargo. It may include the step of controlling.

The cargo classification method may further include utilizing the remaining space by adjusting the interval of the surrounding cargo using the empty space of the discharged cargo. The cargo classification method may further include the step of rejecting or finally rejecting cargo that is difficult to discharge to a designated destination delimiter in advance.

According to one embodiment, when classifying cargo, it is possible to lower the cost of introducing the automated equipment, reduce the space required for operation and increase throughput compared to the existing. The application of artificial intelligence technology to automated facilities can provide smaller and more intelligent automation devices. Increasing parcel deliveries at hub (sub) terminals can be installed in a smaller space than new terminals without the addition of new terminals or the addition of large automation equipment, while increasing the parcel delivery throughput.

Cargo sorting apparatus according to an embodiment can be classified in consideration of the camera-based / multi-row sorting / classification direction. In other words, the cargo does not have to be aligned in advance, and even if the cargo overlaps without being aligned, the position and spacing can be adjusted according to the discharge direction. The cargo is tracked using the movement time and shape of the cargo so that it can be handled even if the cargo overlaps from side to side. By using the camera as well as the sensor to identify and control the two-dimensional position of the cargo, it is possible to control the movement of the cargo to the desired position in two dimensions in advance. It is possible to control the position of cargo moving side by side in the direction perpendicular to the direction of cargo movement.

In the technical aspect, when the expectation for full automation is increasing due to the development of artificial intelligence technology, it is possible to secure technology for the era of full automation by applying artificial intelligence related S / W technology to the automation facility. Economically and industrially, the development of high-speed / precision / automation technology in the logistics industry and the convergence of IT technology can create a high value-added industry that has a large ripple effect on the front and back industries related to information / intelligence. Synergies can be achieved through the interaction of the machinery industry, the information and communication industry, and the logistics industry. On the social side, it is expected that the convergence of intelligent information technology and machine facilities will have a positive impact on the development of convergence technology.

1 is a conceptual diagram of a cargo sorting apparatus according to an embodiment of the present invention;

2 is a block diagram of a cargo sorting apparatus according to an embodiment of the present invention,

3 is a detailed configuration diagram of the position tracking unit of FIG. 2 according to an embodiment of the present disclosure;

4 is a detailed configuration diagram of a division information acquisition unit according to an embodiment of the present invention;

5 is a detailed configuration diagram of the position information acquisition unit of FIG. 3 according to an embodiment of the present invention;

6 is a detailed configuration diagram of the cargo classification unit of FIG. 2 according to an embodiment of the present invention;

7 is a detailed configuration diagram of the cargo alignment unit of FIG. 6 according to an embodiment of the present disclosure;

8 is a detailed configuration diagram of the cargo discharge unit of FIG. 6 according to an embodiment of the present invention;

9 is a structural diagram of a cargo sorting apparatus for explaining a process in which a cargo sorting apparatus recognizes cargo classification information at high speed according to an embodiment of the present invention;

10 is a structural diagram of a cargo sorting apparatus for explaining the process of classifying cargo automatically by the cargo sorting apparatus according to an embodiment of the present invention,

11 is a plan view of a cargo sorting apparatus for explaining the operation process of the cargo sorting apparatus according to an embodiment of the present invention;

12 is a plan view of an existing cargo sorting apparatus for showing that the existing cargo sorting apparatus cannot classify cargo on the same line;

13 is a plan view of the cargo sorting apparatus for showing that the cargo sorting apparatus according to an embodiment of the present invention can classify cargo on the same line;

14 is a conceptual view of classifying cargo sorting apparatus according to an embodiment of the present invention in terms of function;

15 is a flowchart illustrating a cargo classification method according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the embodiments of the present invention make the disclosure of the present invention complete and the general knowledge in the technical field to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

In describing the embodiments of the present disclosure, when it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present disclosure, the detailed description thereof will be omitted, and the following terms are used in the embodiments of the present disclosure. Terms are defined in consideration of the function of the may vary depending on the user or operator's intention or custom. Therefore, the definition should be made based on the contents throughout the specification.

Combinations of each block of the block diagrams and respective steps of the flowcharts may be performed by computer program instructions (executable engines), which may be executed on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment. As such, instructions executed through a processor of a computer or other programmable data processing equipment create means for performing the functions described in each block of the block diagram or in each step of the flowchart.

These computer program instructions may also be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable or computer readable memory. The instructions stored therein may also produce an article of manufacture containing instruction means for performing the functions described in each block of the block diagram or in each step of the flowchart.

And computer program instructions can also be mounted on a computer or other programmable data processing equipment, such that a series of operating steps can be performed on the computer or other programmable data processing equipment to create a computer-implemented process that can be executed by the computer or other programmable data. Instructions for performing data processing equipment may also provide steps for performing the functions described in each block of the block diagram and in each step of the flowchart.

In addition, each block or step may represent a portion of a module, segment or code that includes one or more executable instructions for executing specific logical functions, and in some alternative embodiments referred to in blocks or steps It should be noted that the functions may occur out of order. For example, the two blocks or steps shown in succession may, in fact, be performed substantially concurrently, or the blocks or steps may be performed in the reverse order of the corresponding function, as required.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, embodiments of the present invention illustrated in the following may be modified in many different forms, the scope of the present invention is not limited to the embodiments described in the following. Embodiments of the present invention are provided to more fully explain the present invention to those skilled in the art.

1 is a conceptual diagram of a cargo sorting apparatus according to an embodiment of the present invention.

Referring to Figure 1, the cargo sorting device 1 is a device for automatically sorting the cargo input from the courier logistics center, goods storage warehouse, packaging / distribution center and the like. For example, at a distribution center or a courier terminal, cargo is sorted according to delivery address or characteristics and automatically discharged to a specific section. The cargo sorting apparatus 1 according to an embodiment tracks a cargo location by using artificial intelligence (AI) technology for a cargo moving at high speed and uses the tracking result to load the cargo. Can be automatically classified. By using AI technology, it can lower the cost of introducing automation equipment, reduce the space required for operation, and increase throughput.

By using AI technology, we will simultaneously improve the performance and space efficiency of the existing cargo sorting system. For example, in terms of performance, existing devices can only sort cargo in line so that the cargo can be classified by the corresponding separator, so the throughput is limited even if the input volume and speed of cargo are improved. The cargo sorting apparatus 1 according to an embodiment may classify a cargo by a sorting port by simultaneously classifying a plurality of cargoes at the same location, for example, on the same ship, thereby improving performance (throughput). In terms of space efficiency, existing units have multiple cargo feeders for increased input and at the same time they consist of rather long alignments to line up cargo. Therefore, there is a disadvantage that the cargo supply part and the alignment part take up a lot of space. The cargo sorting apparatus 1 according to an embodiment may have a small number of supply parts and an alignment part requiring a smaller area than the conventional one, thereby improving performance and increasing space efficiency.

Existing cargo sorting device is essential to sort the cargo in line for sorting cargo. Sorting cargo in a row and then discharging it to the appropriate section is limited to increasing throughput. Cargo sorting apparatus 1 according to an embodiment can be sorted at the same time even if the cargo is put in more than one line. For example, even if there are two rows of cargo on the same line without sorting the cargo, they can be sorted. Existing devices use sensors to identify when a cargo is passing and classify cargo using only time information. This method does not use whether the cargo is on the right side or the left side, and can be distinguished without error by securing more than the minimum distance between the cargoes. In addition, the cargo can be processed one by one in sequence, and the distance between the cargoes must be separated by a certain distance so that the classification of the next cargo is not disturbed. In contrast, the cargo sorting apparatus 1 is capable of classifying cargo according to the position or direction to be discharged even if the distance of the cargo is close. In addition, if there are cargo to be discharged from side to side on the same line, it is also possible to process two or more at the same time by controlling each of the cargo to be discharged to both sides.

Hereinafter, a cargo sorting apparatus 1 having the above-mentioned features will be described with reference to FIG. 1. From the instrument point of view, the cargo sorting device 1 transports the cargo through the cargo conveying part 3 in one or more rows without having to align the cargo in advance. And based on the two-dimensional position detection and tracking of the cargo transported in one or more heat through the cargo transfer unit 3 controls the location and direction to classify, and discharges the classified cargo to the separator (4). The cargo transfer part 3 may be configured as an elongated cargo transfer part belt as shown in FIG. 1. In FIG. 1, the separator 4 is disposed on the left and right sides of the cargo transfer part 3, but the position of the separator 4 is not limited thereto.

When the cargo sorting apparatus 1 is classified from a functional point of view, it is composed of a size measuring unit 106, classification information acquisition unit 100, cargo alignment unit 123 and the cargo discharge unit 124. The size measuring unit 106, the classification information acquisition unit 100, the cargo alignment unit 123 and the cargo transfer unit 3 on the cargo discharge unit 124 can be separated for each function, the transfer speed is different from each other Can be controlled. When the cargo is randomly supplied to the cargo transporting unit 3, the classification information acquisition unit 100 recognizes the classification information of a single cargo while transporting at high speed through the cargo transporting unit 3 without stopping the cargoes supplied to the multiple cargoes Separate. In this case, it is noted that the cargo does not have to be aligned in advance to classify the cargo. In order to recognize the cargo, the classification information acquisition unit 100 may use at least one image scanner 1000 that scans a single or a plurality of cargo images. Cargo sorting unit 123 is to sort the multiple cargo recognized the classification information, the cargo discharging unit 124 discharges the cargo to the designated separator (4). Before the classification information acquisition unit 100 recognizes a single cargo, the size measuring unit 106 may measure the size (height, width, length) and the direction (angle of the cargo placed on the cargo transport unit) of each cargo. . In this case, the image scanner 1000 of the classification information acquisition unit 100 may scan the cargo image after automatically focusing the camera using the height information of the cargo measured by the size measuring unit 106.

The cargo sorting apparatus 1 according to an embodiment provides a vision device combining IT technologies such as computer vision technology, AI technology, etc. in a mechanical device, thereby miniaturizing and intelligent cargo sorting. Cargo sorting device 1 can accurately identify the location of the cargo through the vision device, and can accurately distinguish each cargo through the direction control based on the location. As an example of computer vision technology, an image of goods is acquired using a vision camera 1020 shown in FIG. 1, and then two-dimensional positions of the goods are detected and tracked in real time from the acquired image. As illustrated in FIG. 1, the vision camera 1020 may be positioned above the freight transfer unit 3 to capture a freight image.

The cargo classifying apparatus 1 detects cargoes by analyzing images captured by the vision camera 1020 and recognizes positions and postures of the detected cargoes. And the position and attitude of the cargo can be controlled by controlling the cargo and the cargo transport unit 3 using the recognized information. In addition, it can handle a large amount of cargo per hour can reduce the installation area and improve performance. As such, it can be combined with software (S / W) technology, such as image processing technology, to go beyond the limits of a mechanical device, minimizing its size and maximizing the throughput per hour of aligning cargo.

According to an embodiment, a plurality of sorting cells 5 are used for sorting the cargo of the cargo sorter 123 and discharging the cargo of the cargo discharger 124. Each sorting cell 5 may change the direction of travel of the cargo by aligning the sorted cargo or rotating it from side to side in a plane by a turning motor for discharging the cargo to the designated separator 4. Each sorting cell 5 can be controlled individually or in groups.

2 is a block diagram of a cargo sorting apparatus according to an embodiment of the present invention.

1 and 2, the cargo sorting apparatus 1 includes a cargo transporting unit 3, a location tracking unit 10, and a cargo sorting unit 12.

The cargo transfer part 3 transfers the cargoes in one or more rows without first arranging them in line. The cargo transport 3 may be a transport conveyor.

The position tracking unit 10 detects and tracks the two-dimensional position of each cargo being transported through the cargo transfer unit 3. The position tracking unit 10 according to an embodiment acquires an image of each individual cargo being transported at high speed through the cargo transfer unit 3 through the vision camera 1020 and analyzes the acquired image to two-dimensional of each individual cargo. Detect and track location The cargo may be detected from the cargo image acquired through the vision camera 1020, and the two-dimensional position of the cargo may be detected and tracked by recognizing a movement time and appearance (including at least one of a shape and a contour) of the detected cargo.

The cargo classification unit 12 controls the location and direction of each cargo according to the classification information of the cargo based on the location tracking result of the location tracking unit 10 to classify the cargo into destination separators during transportation. The destination delimiter means the final destination from which a cargo will be sorted and loaded, among a number of delimiters. For example, even if goods are transported in a plurality of rows instead of being arranged in a line in advance, based on the position tracking result of the vision camera 1020, the location and direction of each goods are controlled according to the classification information to intelligently transport the goods during the transport. Classify. Position control of cargo, for example, by relocating the cargo during transport according to the destination delimiter where the cargo is to be discharged, tracking the cargo and repositioning the cargo to move to the destination delimiter without disturbing or accepting the surrounding cargo. To control. In position control, the conveying direction, conveying order and spacing of the cargo can be aligned while being adjusted. The cargo classification unit 12 intelligently arranges the cargo order and position, and then selectively discharges the cargo to the destination separator.

3 is a detailed configuration diagram of the position tracking unit of FIG. 2 according to an embodiment of the present invention.

Referring to FIG. 3, the location tracking unit 10 may include a division information acquisition unit 100, a location information acquisition unit 102, and an information matching unit 104, and may further include a size measurement unit 106. have.

The classification information obtaining unit 100 obtains identification information of the cargo being transported and obtains cargo classification information from the obtained identification information. An image scanner can be used to recognize the cargo identification. An image scanner is a camera that scans cargo at high speed. The image scanner can autofocus at high speed. It is also possible to scan the facets of the cargo, for example up to six sides up to the bottom of the cargo passing through the cargo transport.

The location information acquisition unit 102 acquires two-dimensional location information of the cargo using a vision camera. The position information acquisition unit 102 may track the two-dimensional position of the cargo by analyzing the image data acquired through the vision camera to detect the cargo and recognize the movement time and appearance of each detected cargo. At this time, the intelligent information generated through the machine learning based on artificial neural network or artificial neural network can be used for image analysis.

The information matching unit 104 connects and matches two-dimensional position information of the cargo obtained through the location information acquisition unit 102 with the classification information of the cargo obtained through the division information acquisition unit 100.

The size measuring unit 106 measures the size and direction of each single cargo before the single cargo recognition of the classification information obtaining unit 100. The size includes the height, width and length of the cargo, and the direction includes the angle of the cargo on the cargo carrier. In this case, the division information acquisition unit 100 may classify the cargo by focusing each image scanner using the information measured by the size measuring unit 106 and scanning an image of a cargo having a different size. In this case, the image scanner becomes an auto focus image scanner. That is, before the cargo is put into the auto focus image scanner, passing through the size measuring unit 106, the size of the cargo and the attitude (angle) of the cargo placed on the cargo transfer unit are measured. This is to focus the fixed auto focus image scanner so that the cargo can be recognized accurately. As soon as the size measuring unit 106 passes, the height information of the cargo is transmitted to the system, and the auto focus image scanner is applied to the height information of the cargo. Based on this principle, it automatically focuses and scans.

4 is a detailed configuration diagram of the division information acquisition unit according to an embodiment of the present invention.

3 and 4, the division information acquisition unit 100 includes an image scanner 1000, a cargo recognition unit 1002, and a division information processing unit 1004.

The image scanner 1000 scans a single or multiple cargo images supplied to the cargo transfer unit. The image scanner 1000 is an autofocus camera in that it can focus automatically, and is a multi-faced scanning camera in that cargo can be recognized from up to six sides up to the bottom of the cargo passing through the cargo transfer unit. Support for autofocus and multi-sided scans can increase the recognition rate of cargo passing through the freight transport at high speed.

The cargo recognition unit 1002 recognizes identification information of each single cargo from the image acquired by the image scanner 1000. The cargo recognition unit 1002 may additionally use not only barcode reading but also identification code reading, video coding, address reading, and the like to recognize identification information of each single cargo. In addition, the identification information may be recognized using intelligent information generated through machine learning based on artificial neural networks or artificial neural networks. That is, the cargo recognition unit 1002 may read not only a barcode but also a division code combining a letter and a number, a Korean address, and the like. By applying Hangul character recognition technology, it is possible to recognize Hangul information such as address and product name. Through this, it is possible to perform tasks that could not be processed by barcode information alone. Cargo identification information recognition embodiment of the cargo recognition unit 1002 will be described later with reference to FIG.

The classification information processing unit 1004 classifies the multiple cargos by inquiring the classification information of each cargo with the identification information of each single cargo recognized by the cargo recognition unit 1002. In the classification information, the identification information of each single cargo and the information of the phrase are matched, so that it is possible to know in which category the single cargo to be identified should be discharged. The classification information may be located in the internal memory of the cargo sorting device or in the external memory. For example, the division information may be located in an external operation control server. In this case, the classification information processing unit 1004 transmits identification information of a single cargo to the operation control server, receives the classification information matching the cargo identification information from the operation control server, and classifies the goods using the received classification information. Can be.

5 is a detailed configuration diagram of the location information acquisition unit of FIG. 3 according to an exemplary embodiment.

3 and 5, the location information acquisition unit 102 includes a vision camera 1020, an image acquisition unit 1022, an image processing unit 1024, an image analyzer 1026, and an artificial intelligence linker 1028. It includes.

The image acquisition unit 1022 acquires an image of the cargo transported at high speed using the vision camera 1020. The number of vision cameras 1020 is not particularly limited. Vision camera 1020 is used for cargo location tracking for intelligent cargo order and location alignment, vision-based automatic sorting, and the like. Vision camera 1020 is supported by a support as shown in Figure 1 may be installed on the top of the cargo sorting device (1). For example, the cargo is arranged on the top of the cargo alignment unit 123 and the cargo discharge unit 124 of the cargo sorting device 1 can obtain an image.

The image processor 1024 processes the image acquired by the image acquirer 1022 and transmits the image to the image analyzer 1026. Image processing includes, for example, preprocessing such as background removal, image compression, image restoration, image enhancement, image correction, quantification, spatial filtering, and the like. Image processing is not easy in real time processing because of the large amount of calculations. GPUs can be used together with parallel processing for real time control based on the measured results in real time.

The image analyzing unit 1026 analyzes the image data processed by the image processing unit 1024 to detect the cargo, recognizes the movement time and appearance of each detected cargo and tracks the two-dimensional position of the cargo in real time. The image analysis unit 1026 may determine the cargo moving in large quantities in real time using the object recognition technology and track the movement position of the determined cargo. To this end, the image analyzer 1026 may detect an object from the image data and detect a two-dimensional position of the cargo from the detected object. Object recognition technology using image can improve the efficiency of automation by applying image recognition technology even though it operates in some limited environment. The image analyzer 1026 according to an embodiment may use a position sensor that detects a transfer point of the cargo in the cargo transfer unit for location tracking. For example, when detecting a transfer point where the cargo is located through the position sensor, it is possible to obtain more accurate position information from the image of the cargo of the point obtained through the image acquisition unit 1022.

The artificial intelligence linkage unit 1028 collects intelligence information and provides the collected intelligence information to the image analyzer 1026. In image analysis, the use of intelligent information improves the accuracy of cargo detection and location recognition. Intelligent information may be generated through machine learning based on an artificial neural network or an artificial neural network. An example of machine learning is deep learning.

6 is a detailed configuration of the cargo sorting unit of FIG. 2 according to an embodiment of the present invention.

1, 2, and 6, the cargo sorting unit 12 includes a control unit 120, a management unit 126, and a storage unit 129.

The control unit 120 controls the overall operation of the cargo sorting device. The control unit 120 according to an embodiment receives the image-based position tracking result from the vision camera 1020, and transmits a control command to the cargo transfer unit (3). To this end, the control unit 120 classifies cargos based on the vision camera-based cargo location information while transferring randomly loaded cargo without stopping through the cargo transfer unit 3. In this case, the controller 120 may classify cargoes which are not arranged in line in advance. The controller 120 may arrange the flow of cargoes so that the cargoes are discharged from the designated destination section. The controller 120 may be located in a computer. The control unit 120 may be a central control unit, an operation control server or a combination thereof.

The control unit 120 according to an embodiment includes a cargo alignment unit 123, cargo discharge unit 124 and the direction change unit 125.

The cargo aligning unit 123 may determine a destination delimiter for discharging each cargo according to the classification information of each cargo, and track each cargo's position through the vision camera 1020 and discharge the cargo to the determined destination delimiter. Arrange the cargoes so that Cargo alignment unit 123 according to an embodiment determines the progress direction of each cargo so that the cargo can be arranged in order to discharge. From the location information of the cargo tracked through the vision camera 1020, the loading order of the cargo and the distance between the cargo is extracted and using the extracted information to determine the progress of each cargo. At this time, the cargo alignment unit 123 may move the position of the cargo so as not to disturb or receive the surrounding cargo. For example, while changing the traveling direction of the first cargo being transported along the cargo transfer unit 3 to the first direction, the traveling direction of the second cargo located within a predetermined distance around the first cargo to the second direction. This can prevent collisions between cargoes. Here, the first direction may be left and the second direction may be right. For example, the cargo alignment unit 123 sends a single cargo being transported to the left while simultaneously sending the cargo immediately attached to or next to the right.

According to an embodiment, the cargo alignment unit 123 divides the cargo transfer unit 3 into a plurality of rows, and cargoes located in the first zone in a direction perpendicular to the transport direction according to the location of the cargoes are arranged along the first row. Cargoes located in the second zone adjacent to the first zone in a direction perpendicular to the conveying direction are aligned with the travel direction of the cargoes to proceed along the second row. For example, if the conveying direction of the cargo is in the transverse direction, the cargo conveying part 3 is divided into three zones in the longitudinal direction, and cargoes located in the upper first zone are sent to the left, and in the second intermediate zone Cargoes located in the middle of the transport direction is sent, cargoes located in the lower third zone is sent to the right. The cargo aligning unit 123 may determine a moving direction of each cargo so that the cargoes are aligned with each other while the cargoes are opened sideways according to the position of the cargo. The cargo alignment unit 123 may change not only the position of the cargo but also the attitude when each cargo is transported. For example, the posture can be changed such that the narrow side of the object faces the front side of the cargo transfer section 3 and the long side faces the side of the cargo transfer section 3.

The cargo alignment unit 123 according to an embodiment divides the cargo transfer unit 3 into a plurality of rows, and sorts the cargoes by driving the feed rates of each row differentially. For example, the cargo alignment unit 123 may include a first cargo transfer unit for transferring the cargo in the first flow at the first speed, a second cargo transfer unit for transferring the cargo in the second flow at the second speed, and And a third cargo transfer portion for transferring the cargoes in the third flow at three speeds. In this case, the first speed, the second speed, and the third speed may be different from each other.

The cargo discharge unit 124 discharges the cargo to a designated destination delimiter while tracking the two-dimensional position of the cargo through the vision camera 1020. The detailed configuration of the cargo discharge unit 124 will be described later with reference to FIG. The direction switching unit 125 classifies the cargo by switching the transfer direction of each sorting cell so that each cargo proceeds according to the cargo discharge direction determined according to the cargo classification information. In this case, the direction changer 125 may control the direction change of each classified cell individually or in a group.

The manager 126 includes a freight information manager 127 and a logistics information manager 128. The cargo information management unit 127 manages the classified cargo information. Cargo information is obtained through single cargo identification, multiple cargo classification, cargo location analysis and cargo information inference. The logistics information management unit 128 manages the classification information by linking the location tracked cargo with the identification information of the corresponding cargo. At this time, cargo classification information, cargo arrival time information, cargo type information can be managed together. In FIG. 6, the configuration of the management unit 126 that manages freight information and logistics information is included in the freight classification device. However, according to an implementation method, it may be located outside, for example, an operation control server.

The storage unit 129 stores data necessary for performing operations of the control unit 120 and the management unit 126 or data generated by performing the operation. For example, the storage unit 129 stores intelligence information, image data, control data, facility data, operation data, and the like. Intelligent information is information generated through machine learning based on artificial neural networks or artificial neural networks. Intelligent information can be classified into standard / quasi-type and atypical type according to the form, and can be divided into internal DB and external DB, and can be divided into basic data and retained data according to the source. And inference data. In FIG. 6, the storage unit 129 is included in the cargo sorting apparatus, but may be located outside, for example, an operation control server, according to an implementation method.

7 is a detailed block diagram of the cargo alignment unit of FIG. 6 according to an embodiment of the present invention.

6 and 7, the cargo alignment unit 123 includes an emission policy determination unit 1230 and a real time position control unit 1232.

The emission policy determination unit 1230 determines an emission policy including the discharge direction and the order of the corresponding cargo according to a destination section designated for each cargo, and allows duplicate alignment according to the destination section. The real time position control unit 1232 controls the alignment position of the cargo in association with the vision camera according to the emission policy determined by the emission policy determination unit 1230. At this time, the location of the cargo is tracked through the vision camera, and the cargo location including the order and interval of the cargo is controlled in real time to move to the destination section without disturbing or receiving the surrounding cargo. For example, even if cargoes do not line up and overlap each other in the direction of cargo travel and in the vertical direction, the order and spacing of cargoes are adjusted in consideration of the destination separator.

8 is a detailed configuration of the cargo discharge unit of Figure 6 according to an embodiment of the present invention.

6 and 8, the cargo discharge unit 124 includes an emission control unit 1240 and an emission selection unit 1242.

The discharge control unit 1240 individually discharges the cargo by individually controlling the classification cells carrying each cargo, or discharges the cargo to the group by controlling a plurality of classification cells in groups. In addition, by using the empty space of the discharged cargo to adjust the space of the surrounding cargo to utilize the remaining space, the cargo difficult to discharge to the destination section is rejected or re-rejected for re-input in advance. The discharge selector 1242 tracks the cargo location in conjunction with the vision camera and controls the selective discharge of cargo to the destination separator.

9 is a structural diagram of a cargo classification apparatus for explaining a process of recognizing cargo classification information at a high speed by the cargo classification apparatus according to an embodiment of the present invention.

9, the cargo sorting apparatus measures the size and direction of the cargo through the size measuring unit 106 (80). The size measuring unit 106 may be a volume measurement system (VMS), and the size may include height × width × length.

The freight classification apparatus according to an embodiment acquires an image of each single cargo at high speed and analyzes the acquired image to recognize the classification information of each cargo. For example, the cargo sorting apparatus scans a single or multiple cargo images using at least one image scanner 1000, recognizes identification information of each single cargo from images acquired through each image scanner 1000, and In this case, multiple cargoes are classified by searching for identification information matching each cargo's identification with identification information of each recognized cargo. The configuration may be made by the division information acquisition unit 100 of FIG. 3. There are various methods of recognizing identification information, for example, barcode reading (BCR) 81, identification code reading 82, video coding (VCD) 83 and optical character reading (OCR). 84 method. The barcode reading 81 is used first, and at least one of the identification code reading 82, the video coding (VCD) 83, and the optical character reading (OCR) 84 is optional. Can be used as)

Bar code reading 81 is a method of detecting and reading a bar code present on the cargo surface. One-dimensional (1D) and two-dimensional (2D) barcode reading is possible. Supports partially broken bar code reading. The division code reading 82 is a method of reading a separate division code of alphanumeric combinations other than barcodes. At this time, AI can be used, which supports stable recognition performance using artificial neural networks, machine learning based on artificial neural networks, for example, deep learning. The video coding 83 is a method of inputting identification information through video coding when recognition of identification information (bar code, identification code, address, etc.) fails. The address reading 84 is a method of searching for a label attached to the surface of a box such as a package, for example, a parcel delivery service or a parcel, and reading an address written in the label. It supports stable recognition performance by using machine learning based on artificial neural network and artificial neural network. The Analysis and Statistics Tool (85) supports segmented statistics and system monitoring, and stores and manages scanned images.

The image scanner 1000 supports high-speed autofocus based multi-face scan and recognition of recognition information. High-speed autofocusing means focusing each image scanner 1000 using size information measured by the size measuring unit 106, and multi-sided scanning means multi-sided scanning of images of cargo having different sizes. The image scanner 1000 may reduce response time and increase throughput per hour by supporting autofocus and multi-face scanning in real time. By applying the classification information recognition technology of the cargo through the image scanner 1000, it is possible to automatically generate the reception information and the separator information of the courier and registered mail.

FIG. 10 is a structural diagram of a cargo sorting apparatus for explaining a process of classifying cargo automatically by using a computer vision technology according to an embodiment of the present invention.

Referring to FIG. 10, a vision camera 1020 that can be installed in a small space is used for high efficiency automation using computer vision technology. The vision camera 1020 detects the location and shape of the cargo in real time to detect the two-dimensional position of the cargo. For example, the vision camera 1020 acquires a two-dimensional image of the cargo and the image analyzer 1026 detects the cargo in the cargo image and recognizes the movement time and appearance (including at least one of the shape and contour) of the cargo. To track the two-dimensional position of the cargo. The controller 120 may control the position of the cargo through the direction change motor of the cargo sorting apparatus 1. Cargo position control includes adjusting the conveying direction, conveying order and spacing of the cargo. The control unit 120 communicates with the operation control server 2 to receive an instruction and command from the operation control server 2 or transmit a control result to the operation control server 2.

11 is a plan view of a cargo sorting apparatus for explaining the operation process of the cargo sorting apparatus according to an embodiment of the present invention.

Referring to FIG. 11, the cargo sorting apparatus 1 supplies the cargoes to the cargo transfer part 3. Note that if not stacked in two dimensional planes, there is no need to align cargo or control spacing prior to feeding. Subsequently, 1) The cargo sorting apparatus 1 measures the size and direction of each cargo being conveyed at high speed by using the size measuring unit 106. The size measuring unit 106 may be a volume measurement system (VMS). ② The cargo sorting device 1 scans each individual cargo using an overhead scanner (OHS) 1000, ③ recognizes a barcode in the scanned cargo image (Barcode Reading: BCR), and ④ recognizes the barcode. Inquiry the classification information of the cargo using the identification information (ID). You can find the destination delimiter where each cargo will be discharged through the classification information inquiry.

Subsequently, ⑤ cargo classifier 1 tracks the location of each cargo using AI vision technology, and ⑥ determines the cargo discharge policy including the direction and sequence of cargo discharge in real time using the destination segment information for each cargo. . In this case, duplicate sorting is allowed according to the destination separator. ⑦ Controls and arranges cargo location in real time by linking with vision camera according to cargo discharge policy. ⑧ Controls cargo transfer order and interval. At this time, it can be aligned according to the discharge condition of the separator. Subsequently, the discharge cargo is selectively controlled by using a vision camera at the destination section for discharging the cargo. 빈 The space of discharged cargo can be used to adjust the space of surrounding cargo in real time. (2) Cargoes which are difficult to discharge to the destination separator can be rejected by the reloading conveyor (6). For example, it can be rejected for re-input in advance and finally rejected. In FIG. 11, the number displayed on each cargo is a separator number designated for each cargo.

12 is a plan view of an existing cargo sorting apparatus for showing that the existing cargo sorting apparatus cannot classify cargo on the same line.

Referring to FIG. 12, in the existing apparatus, misclassification may occur when cargoes are not lined up before sorting. For example, as shown in FIG. 12, when the first and second cargo pairs are in the same line, the second and second cargo are in the same position, even though the second and second cargo are to be classified as the second and second cargo. Misalignment occurs as you follow Cargo Section 4. Similarly, if Cargo 3 and Cargo 9 are in the same line, Cargo 9 will follow Cargo 3 in the same location, even though Cargo 9 must be classified as Cargo 9. A distinction occurs. On the same principle, misclassification of 7, 7, 6 cargoes also occurs. In Fig. 12, the numbers displayed on each cargo are the section numbers specified for each cargo.

FIG. 13 is a plan view of a cargo sorting apparatus for showing that a cargo sorting apparatus according to an embodiment of the present disclosure can classify cargo on the same line.

Referring to FIG. 13, a cargo sorting apparatus according to an embodiment may distinguish two directions simultaneously. For example, as shown in FIG. 13, the same line (Separation No. 1 cargo and No. 2 Cargo pair, Separation No. 3 cargo, and No. 4 Freight pair) may be distinguished. Although the first and second cargo pairs are on the same line, it can be seen that the second and second cargo is not classified as the first and second cargo. Cargo classification is possible as long as there is no overlap between the left, right and straight discharge lines of the cargo. Whether the copper wire overlaps can be determined in advance and controlled and aligned. In Figure 13, the number displayed on each cargo is the section number specified for each cargo.

Existing devices and cargo sorting apparatus according to an embodiment has the following differences in terms of operation, throughput, supply equipment size, operational efficiency, adaptability to the cargo size.

In terms of mode of operation, existing devices are sensor based / line aligned / simple aligned. In other words, in order to classify cargo, each cargo should be arranged in line. Since you do not know the destination delimiter for the discharge, line up unconditionally. Line alignment requires the use of a singulator or operator input in a single line. In addition, the gap between cargos should be secured more than a certain length in advance by using a Gapper. In order to increase the throughput, the input volume should be increased. For this purpose, several feeding conveyors are placed and fed in a row. The location of the cargo is determined by the time it passes, so problems arise when two cargoes overlap or slip. That is, it is impossible to determine the location of the cargo transported side by side in the vertical direction and the cargo progress direction.

However, the cargo sorting apparatus according to an embodiment may be arranged in consideration of camera-based / multi-row sorting / sorting direction. In other words, after acquiring the classification information of a single cargo without sorting the cargo in advance, the cargo is sorted by considering the classification direction. At this time, since the sorting in consideration of the destination delimiter for the discharge can be arranged in two or more rows as necessary. Even if the cargo does not line up and overlaps, the position and spacing can be adjusted according to the discharge direction. The cargo is tracked using the movement time and shape of the cargo so that it can be handled even if the cargo overlaps from side to side. By using the camera as well as the sensor to identify and control the two-dimensional position of the cargo, it is possible to control the movement of the cargo to the desired position in two dimensions in advance. It is possible to control the position of cargo moving side by side in the direction perpendicular to the direction of cargo movement.

In terms of throughput, existing devices have throughput limitations and there is a risk of freight breakage when operating at high speeds. In order to increase the throughput, it is necessary to increase the feed speed and the separation speed, but it is difficult to increase the throughput due to the limitation in increasing the speed. There are mechanical limitations and risk of cargo breakage, which limits the throughput.

However, the cargo sorting apparatus according to an embodiment has a high throughput per unit time, and a high throughput, even at a low speed, and thus a low risk of damage to the cargo. Two cargo arrangements in the same location allow for higher hourly throughput. Even if there is not enough space between the cargoes, the location and spacing of the cargo can be adjusted in conjunction with the vision camera during transport. Even if the feed rate is not fast, the amount of feed per unit time is high, which increases throughput and reduces the risk of damage to the cargo.

In terms of supply equipment size, existing equipment requires large supply equipment. In other words, the existing equipment has to be arranged in a line in order to separate the cargo and the interval between the cargo must be maintained for a certain length, the supply equipment is large and complex. In addition, since the supply conveyor is composed of several lines, the supply conveyor is long, such as a merge conveyor to combine them, a spacer for adjusting the gap between cargoes, a singulator for aligning the cargo, and a conveyor connecting the same. A connection line is needed.

However, cargo sorting apparatus according to an embodiment is possible in a small facility. In other words, the cargo sorting is made conditionally as necessary by referring to the location of the delimiter as a destination, so the size of supply equipment is relatively small. In addition, since the sorting is performed in the sorting step, a merge conveyor, a gap adjuster, and a singulator function are included in the system so that no separate large equipment is needed.

In terms of operational efficiency, existing devices have operational efficiencies of 80% to 90% of the maximum throughput of the separator. It is difficult to supply the maximum quantity from the supply part during operation, so the actual operating efficiency is in the range of about 85%. However, according to an embodiment, the cargo sorting device has an operating efficiency of 120 to 150% of the existing equipment of the same speed. The supply can supply more than the standard capacity, and if it exceeds the processing capacity, it can be rejected preliminarily and can be supplied as a redundant line, improving the efficiency by about 50%.

In terms of adaptability to cargo size, existing devices have low space utilization in handling small cargoes. Transport belts and separators are tailored to the maximum cargo size, resulting in poor space utilization for many small cargoes. However, the cargo sorting apparatus according to the embodiment is capable of high-efficiency treatment of small cargo. If the cargo size is small, the extra space on the transfer belt can be used. Large cargoes use the entire space.

14 is a conceptual diagram illustrating classification of a cargo classification device according to an embodiment of the present disclosure in terms of function.

Referring to Figure 14, the cargo sorting device is functional in terms of: 1. AI-based

positioning vision device

1301, 2. cargo scanning and

recognition device

1302, 3. cargo alignment position and flow

control device

1303, 4. Directional

automatic sorting device

1304, 5. Selective emission control device 1305 of cargo, 6. AI vision-based automatic sorting device and control integrated operating system 1306.

The AI-based positioning vision device 1301 acquires an image of cargo in transit using at least one vision camera 1020. The cargoes are detected by analyzing the acquired cargo image. Then, the movement time and appearance (including at least one of the shape and the contour) of the detected individual cargo are recognized to track the location of the individual cargo in real time. At this time, the use of intelligence collected in advance improves the accuracy of cargo detection and location recognition from the cargo image. For example, we improve the accuracy of cargo detection and location recognition using intelligent information learned through machine learning based on artificial neural networks or artificial neural networks.

The cargo scanning and recognition device 1302 scans each single cargo to recognize the classification information and classifies the multiple cargoes according to the recognized classification information. To this end, the cargo scanning and recognition device 1302 scans a single or multiple cargo images through at least one image scanner 1000, and identification information of each single cargo from images acquired through each image scanner 1000. It classifies multiple cargoes by searching the classification information of each cargo with identification information of each recognized cargo.

The load scanning and recognizing apparatus 1302 according to an embodiment may measure the size (height, width, length) and the direction of each single load through the size measuring unit 106 before the multiple load recognition through the image scanner 1000. Measure The image scanner 1000 may classify the cargo by focusing each image scanner 1000 using the information measured by the size measuring unit 106 and scanning an image of a cargo having a different size. The cargo scanning and recognizing apparatus 1302 may be the division information acquisition unit 100 of FIG. 3 or perform a function thereof.

The cargo sorting position and flow control device 1303 determines a destination separator for discharging each cargo according to the classification information of each cargo, and the destination separator in which each cargo is determined while tracking the two-dimensional position of the cargo through a vision camera. Arrange the cargo so that it can be discharged. For example, the cargo alignment position and flow control device 1303 determines an emission policy including the discharge direction and order of the cargo in accordance with the destination delimiter of each cargo, and allows redundant alignment according to the destination delimiter. In accordance with the emission policy determined, the alignment of the cargo is controlled in conjunction with the vision camera. The position of the tracked cargo is controlled by the vision camera according to the discharge direction, and the cargo is not aligned in line with the cargo. Even if they overlap each other, the arrangement of cargoes is controlled by considering the destination separator. In addition, the cargo is sorted by controlling the order and spacing of the cargo according to the destination section. Even if the cargo is not aligned in line and overlaps each other in the direction of cargo progress and vertical, the order and spacing of the cargo are adjusted in consideration of the destination section. do. The cargo alignment position and flow control device 1303 may be or perform the cargo alignment unit 123 of FIG. 6.

The direction change automatic sorting device 1304 classifies the cargo by switching the transfer direction of each sorting cell 5 so that each cargo proceeds according to the cargo discharge direction determined according to the cargo classification information. Each sorting cell 5 extends beyond the outer and inner faces of the cargo conveyer. In this case, the projections of each sorting cell 5 extending beyond the outer or upper surface support the cargo conveyed on the cargo conveying portion. The projection of each sorting cell 5 extending beyond the inner or lower face of the cargo conveyer is rotated by a turning motor under the cargo conveyer. Each sorting cell 5 rotates in the travel direction, and the direction change motor can change the direction in a direction inclined or perpendicular to the travel direction on the plane. For example, the traveling direction of the cargoes may be spread in the left and right directions perpendicular to the driving direction. At this time, the direction change can be group control or individual control.

The shape of the sorting cell 5 is not specifically limited. For example, the sorting cell 5 may be manufactured in the form of a popup sorter or a wave sorter. In the case of a wave sorter, the sorting cell 5 can align the cargo by sending it to the left or right by rotation. The sorting cell 5 may be a roller capable of turning in a direction inclined to a traveling direction or in a vertical direction while rotating. As another example, the sorting cell 5 may be a rotary belt sorter as shown in FIG. 14. The rotary belt sorter includes a small belt and a rotating body for rotating the position of the small belt so that the cargo is conveyed in a direction inclined or vertical in the traveling direction of the load conveying portion. As shown in FIG. 14, as the rotating body rotates from side to side on a plane, the traveling direction of the cargo passing through the small belt is changed. In FIG. 14, the rotary belt sorter has one small belt, but each of the rotary belt sorters includes a plurality of small belts to control the plurality of small belts in groups. The above-described embodiments are not limited thereto but only one embodiment for helping understanding of the present invention. The automatic change of direction device 1304 may be the direction change unit 125 of FIG. 6 or perform a function thereof.

The selective emission control device 1305 of the cargo acquires the cargo image through the vision camera 1020, and tracks the cargo position by analyzing the cargo image through the image analyzer 1026. Then, the divert control motor 1244 is controlled through the discharge control unit 1240 to control the sorting cell 5 to discharge the cargo to a destination delimiter selectively designated according to the cargo location. At this time, the selective discharge control device 1305 of the cargo, even if the cargo is not aligned in a row and overlap each other in the vertical direction and the cargo progress direction, if the destination delimiter to which the cargo will be discharged from each other, each of the cargo to their destination delimiter The discharge direction of each cargo can be controlled individually and processed simultaneously so that they can be discharged. The selective discharge control device 1305 of the cargo may be or perform the cargo discharge unit 124 of FIG.

The AI vision-based automatic sorting device and control integrated operating system 1306 is a function for integrating and managing the aforementioned

functional units

301, 1302, 1303, 1304, and 1305.

Referring to FIG. 15, the cargo sorting apparatus transfers cargo into one or more rows without sorting the cargo in advance in advance (1500). Next, the two-dimensional position of each cargo being transported is detected and tracked (1510). In step 1510 of detecting and tracking the two-dimensional position, the cargo classification apparatus obtains the classification information from the identification information of the cargo being transported, obtains the two-dimensional position information of the cargo by using at least one vision camera, and obtains it. By matching the classification information of the cargo and the two-dimensional position of the cargo can be matched.

Subsequently, the cargo classifying apparatus classifies the cargo into a destination separator during transportation by controlling the location and direction of each cargo based on the classification information of the cargo based on the location tracking result (1520). In step 1520 of classifying the destination delimiter, the cargo classification apparatus according to an embodiment determines a destination delimiter for discharging each cargo according to the acquired delimitation information, and determines the discharge direction and order of the cargo according to the determined delimiter. Determine emission policies, including It also tracks cargo location through vision cameras, controls and aligns the flow and location of cargo according to the emission policy, and selectively discharges cargo to destination delimiters. When sorting, you can change the cargo position according to each cargo's destination delimiter, track the cargo's location through vision cameras, and control the cargo's position to move to the destination delimiter without obstructing or receiving surrounding cargo. have.

The cargo sorting device can use the remaining space by adjusting the space of the surrounding cargo by using the empty space of the discharged cargo. Furthermore, the cargo sorting device can reject or finally reject cargo that is difficult to discharge to a designated destination delimiter in advance for re-entry.

So far, the present invention has been described with reference to the embodiments. Those skilled in the art will appreciate that the present invention can be implemented in a modified form without departing from the essential features of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope will be construed as being included in the present invention.

Claims

A cargo transport unit for transporting cargo in one or more rows without first arranging the cargo in a line;

A position tracking unit for detecting and tracking a two-dimensional position of each cargo being transported through the cargo transfer unit; And

A freight classification unit for classifying cargoes into destination separators during transportation by controlling the location and direction of each cargo based on the classification information of the cargo based on the location tracking result of the location tracking unit;

Cargo sorting apparatus comprising a.
The method of claim 1, wherein the location tracking unit

Division information acquisition unit for obtaining cargo classification information from the identification information of the cargo being transported;

A location information acquisition unit for acquiring two-dimensional location information of the cargo using at least one vision camera; And

An information matching unit connecting the acquired classification information of the cargo and two-dimensional location information of the cargo;

Cargo sorting apparatus comprising a.
The method of claim 2, wherein the classification information acquisition unit

At least one image scanner scanning an image of a single cargo or a plurality of cargoes supplied to a cargo transfer unit;

A cargo recognition unit for acquiring images through each image scanner and recognizing identification information of each single cargo from the acquired images; And

A classification information processing unit for classifying multiple cargos by searching for classification information of each cargo with identification information of each recognized cargo;

Cargo sorting apparatus comprising a.
According to claim 3, wherein the cargo recognition unit

In order to recognize the identification information of each single cargo, at least one of barcode reading, identification code reading, video coding and address reading is used, and identification is made using artificial intelligence or intelligent information generated through machine learning based on artificial neural network. A cargo sorting device, characterized in that to recognize the information.
The method of claim 2, wherein the location information acquisition unit

An image acquisition unit for acquiring an image of cargo being transported using at least one vision camera;

An image processor configured to image-process an image acquired through the image acquirer;

An image analyzer for detecting cargoes by analyzing the processed data and recognizing the movement time and appearance of each detected cargo to track the location of the cargo; And

An artificial intelligence linkage unit for providing the image analyzing unit with intelligent information generated through machine learning based on an artificial neural network or an artificial neural network for image analysis;

Cargo sorting apparatus comprising a.
The method of claim 2, wherein the location tracking unit

A size measuring unit measuring a size and a direction of each cargo before acquiring the division information of the division information obtaining unit; More,

And the division information obtaining unit comprises an auto focus image scanner which focuses using the information measured by the size measuring unit and then scans an image of a cargo having a different size at a high speed.
According to claim 1, wherein the cargo classification unit

A cargo arranging unit which determines a destination delimiter for discharging each cargo according to the classification information of each cargo and arranges the cargoes so that each cargo can be discharged to the determined destination delimiter while tracking the locations of the cargoes through a vision camera; And

A cargo discharge unit for selectively discharging cargo to a destination separator while tracking the location of the cargo through a vision camera;

Cargo sorting apparatus comprising a.
The method of claim 7, wherein the cargo alignment unit

An emission policy determination unit for determining a discharge policy including a discharge direction and a sequence of the corresponding cargo according to a destination delimiter designated to each cargo, and allowing duplicate alignment according to the destination delimiter; And

In accordance with the determined emissions policy, it works in conjunction with the vision cameras to control the arrangement of the cargo, tracks the cargo location through the vision cameras, and arranges the order and intervals of the cargo to move to the destination demarcation without disturbing or receiving surrounding cargo. A real-time position control unit for controlling the cargo position including;

Cargo sorting apparatus comprising a.
The method of claim 7, wherein the cargo discharge unit

Distribute cargo individually by controlling the sorting cells that carry each cargo, or control multiple sorting cells as a group to discharge cargo into groups, and adjust the interval of surrounding cargoes using the empty space of the discharged cargo, A discharge control unit which rejects or finally rejects a cargo that is difficult to discharge to a designated destination section in advance; And

A discharge selection unit for tracking a cargo location in conjunction with a vision camera and controlling selective discharge of cargo to a designated destination delimiter;

Cargo sorting apparatus comprising a.
The method of claim 9, wherein the discharge control unit

Even if the cargoes are not aligned in line and overlap each other in the direction of cargo progression and vertically, if the destination delimiters to which the cargoes are discharged are different from each other, the direction of discharge of each cargo can be individually controlled so that each cargo can be discharged to its destination delimiter. Cargo sorting apparatus characterized in that the control and processing at the same time.
The method of claim 7, wherein the cargo classification unit

Direction switching unit for classifying the cargo by switching the transfer direction of each sorting cell to proceed with each cargo according to the cargo discharge direction determined according to the cargo classification information;

Cargo sorting apparatus comprising a further.
12. The method of claim 11 wherein each sorting cell is

A compact belt for conveying cargo; And

A rotating body for rotating the position of the small belt by the rotation on the plane to change the traveling direction of the cargo passing through the small belt;

Cargo sorting apparatus comprising a rotary belt sorter comprising a.
In the cargo sorting method using a cargo sorting device, the cargo sorting device is:

Transporting the cargo into one or more rows without first arranging them in line;

Detecting and tracking the two-dimensional position of each cargo in transit; And

Classifying the cargo into destination separators during transport by controlling the location and direction of each cargo based on the classification information of the cargo based on the location tracking result;

Cargo classification method comprising a.
14. The method of claim 13, wherein sensing and tracking the two dimensional position is

Obtaining classification information from identification information of the cargo being transported;

Acquiring two-dimensional location information of a cargo using at least one vision camera; And

Linking the acquired classification information of the cargo with the two-dimensional position of the cargo;

Cargo classification method comprising a.
The method of claim 13, wherein the classifying into the destination delimiter is as follows.

Determining a destination delimiter for discharging each cargo according to the acquired delimitation information, and determining an emission policy including a discharge direction and an order of cargo according to the determined destination delimiter;

Controlling and aligning the flow and position of the cargo according to the emission policy while tracking the cargo location through a vision camera; And

Selectively discharging cargo to a destination delimiter;

Cargo classification method comprising a.
The method of claim 15, wherein the aligning

Changing the cargo location according to the destination delimiter of each cargo; And

Controlling the position of the cargo to track the cargo location through a vision camera and move to the destination demarcation without disturbing or receiving the surrounding cargo;

Cargo classification method comprising a.
The method of claim 13, wherein the cargo classification method is

Utilizing the remaining space by adjusting the interval of the surrounding cargo using the empty space of the discharged cargo;

Cargo classification method characterized in that it further comprises.
The method of claim 13, wherein the cargo classification method is

Refraining or finally rejecting cargo that is difficult to discharge to a designated destination delimiter in advance;

Cargo classification method characterized in that it further comprises.